[etherlab-users] Beginner: how to control EL2252 output using ethercat cmd line tool

[Miceli Jean-Pierre]

Hi all,

Disclaimer: I'm a total beginner in EtherCAT world.

I'd like to control a Beckhoff EL2252 outputs using the command line tool.

Using the pdos option I get the following:
SM0: PhysAddr 0x0981, DefaultSize    0, ControlRegister 0x00, Enable 12
  TxPDO 0x1602 "DC Sync Activate"
    PDO entry 0x1d09:81,  8 bit, "Activate"
SM1: PhysAddr 0x0990, DefaultSize    0, ControlRegister 0x00, Enable 4
  TxPDO 0x1603 "DC Sync Start"
    PDO entry 0x1d09:90, 64 bit, "StartTime"
SM2: PhysAddr 0x0f00, DefaultSize    0, ControlRegister 0x44, Enable 9
  RxPDO 0x1600 "Channel 1"
    PDO entry 0x7000:01,  1 bit, "Output"
    PDO entry 0x7000:02,  1 bit, "TriState"
  RxPDO 0x1601 "Channel 2"
    PDO entry 0x7010:01,  1 bit, "Output"
    PDO entry 0x7010:02,  1 bit, "TriState"
    PDO entry 0x0000:00,  4 bit, ""
  RxPDO 0x1604 "Reserved"
SM3: PhysAddr 0x0910, DefaultSize    0, ControlRegister 0x00, Enable 4
SM4: PhysAddr 0x1000, DefaultSize    0, ControlRegister 0x00, Enable 4

>From the slave datasheet, I should send 2 frames
  1.  Frist frame:
     *   set the StartTime to a correct value (in the future)
     *   set activate to 0
     *   set the value for the outputs
  2.  Set activate to 3

How can I do that ?

Many thanks by advance for your help
J-P